 Total nonnegativity of B-spline collocation matrices

For increasing sites and an ordered nonnegative normalized B-spline basis, the matrix $A_{ij}=N_j(x_i)$ is a totally nonnegative matrix. One way to see the minors' signs is knot insertion. Each inserted knot changes coefficients by $b_j={\alpha }_j{a}_j+(1-{\alpha }_j)a_{j-1}$ with $0\le {\alpha }_j\le 1$, using the standard constant endpoint pieces. This is a nonnegative rectangular bidiagonal map, whose minors are nonnegative. Products preserve that property by the Cauchy–Binet formula. Insert each site to full knot multiplicity; a suitable refined coefficient is then the value $s(x_i)$. Thus collocation is an ordered row submatrix of the refinement map, and has nonnegative minors. The strict support conditions $t_i<x_i<t_{i+k}$ give invertibility by the Schoenberg–Whitney theorem; its inverse has the checkerboard inverse of a totally nonnegative matrix sign pattern.